Title:
Place Recognition-Based Fixed-Lag Smoothing for Environments with Unreliable GPS
Place Recognition-Based Fixed-Lag Smoothing for Environments with Unreliable GPS
| dc.contributor.author | Mottaghi, Roozbeh | |
| dc.contributor.author | Kaess, Michael | |
| dc.contributor.author | Ranganathan, Ananth | |
| dc.contributor.author | Roberts, Richard | |
| dc.contributor.author | Dellaert, Frank | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | |
| dc.date.accessioned | 2011-04-01T20:28:07Z | |
| dc.date.available | 2011-04-01T20:28:07Z | |
| dc.date.issued | 2008-05 | |
| dc.description | ©2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 2008 IEEE International Conference on Robotics and Automation (ICRA), 19-23 May 2008, Pasadena, CA. | |
| dc.description | DOI: 10.1109/ROBOT.2008.4543478 | |
| dc.description.abstract | Pose estimation of outdoor robots presents some distinct challenges due to the various uncertainties in the robot sensing and action. In particular, global positioning sensors of outdoor robots do not always work perfectly, causing large drift in the location estimate of the robot. To overcome this common problem, we propose a new approach for global localization using place recognition. First, we learn the location of some arbitrary key places using odometry measurements and GPS measurements only at the start and the end of the robot trajectory. In subsequent runs, when the robot perceives a key place, our fixed-lag smoother fuses odometry measurements with the relative location to the key place to improve its pose estimate. Outdoor mobile robot experiments show that place recognition measurements significantly improve the estimate of the smoother in the absence of GPS measurements. | en_US |
| dc.identifier.citation | Mottaghi, R., Kaess, M., Ranganathan, A., Roberts, R., & Dellaert, F. (2008). “Place Recognition-Based Fixed-Lag Smoothing for Environments With Unreliable GPS”. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2008), 19-23 May 2008, 1862-1867. | en_US |
| dc.identifier.issn | 1050-4729 | |
| dc.identifier.uri | http://hdl.handle.net/1853/38368 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Global positioning device | en_US |
| dc.subject | Localization | en_US |
| dc.subject | Odometry measurements | en_US |
| dc.subject | Pose estimation | en_US |
| dc.subject | Robots | en_US |
| dc.title | Place Recognition-Based Fixed-Lag Smoothing for Environments with Unreliable GPS | en_US |
| dc.type | Text | |
| dc.type.genre | Post-print | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Dellaert, Frank | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| local.contributor.corporatename | College of Computing | |
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